Unmanned aerial vehicle control system, unmanned aerial vehicle control method, and program

ABSTRACT

An unmanned aerial vehicle is caused to fly by avoiding a no-fly zone, which changes as a moving object moves. Provided is an unmanned aerial vehicle control system, including: moving object position acquisition means for acquiring moving object position information on a current position of a moving object moving above a surface of an earth; zone setting means for setting a no-fly zone in which a flight of an unmanned aerial vehicle is inhibited based on the moving object position information; and flight control means for controlling the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle avoids the no-fly zone set based on the moving object position information.

TECHNICAL FIELD

The present invention relates to an unmanned aerial vehicle controlsystem, an unmanned aerial vehicle control method, and a program.

BACKGROUND ART

Hitherto, there is known a technology of flying an unmanned aerialvehicle so that the unmanned aerial vehicle avoids a no-fly zone inwhich flight of an aerial vehicle is inhibited. For example, in PatentLiterature 1, there is described a technology of setting a no-fly zonebased on positions of fixed structures fixed to the ground such as powerpylons and power-transmission lines so that the unmanned aerial vehicleavoids a contact of an unmanned aerial vehicle with the fixedstructures.

CITATION LIST Patent Literature

[PTL 1] JP 2003-127994 A

SUMMARY OF INVENTION Technical Problem

There are not only fixed structures but also moving bodies such ashumans and trains on the ground. When the moving object moves, a no-flyzone corresponding to the moving object changes.

However, in order to set the no-fly zones of Patent Literature 1, onlythe fixed structures fixed to the ground are considered, and thus, theunmanned aerial vehicle may become an obstacle to the moving object orthe moving object may become an obstacle to the unmanned aerial vehicle.

The present invention has been made in view of the above-mentionedproblem, and therefore has an object to enable an unmanned aerialvehicle to fly by avoiding a no-fly zone, which changes as a movingobject moves.

Solution to Problem

In order to solve the above-mentioned problem, according to oneembodiment of the present invention, there is provided an unmannedaerial vehicle control system including: moving object positionacquisition means for acquiring moving object position information on acurrent position of a moving object moving above a surface of an earth;zone setting means for setting a no-fly zone in which a flight of theunmanned aerial vehicle is inhibited based on the moving object positioninformation; and flight control means for controlling the flight of theunmanned aerial vehicle so that the unmanned aerial vehicle avoids theno-fly zone set based on the moving object position information.

According to one embodiment of the present invention, there is providedan unmanned aerial vehicle control method including: moving objectposition acquisition step of acquiring moving object positioninformation on a current position of a moving object moving above asurface of an earth; zone setting step of setting a no-fly zone in whicha flight of the unmanned aerial vehicle is inhibited based on the movingobject position information; and flight control step of controlling theflight of the unmanned aerial vehicle so that the unmanned aerialvehicle avoids the no-fly zone set based on the moving object positioninformation.

According to one embodiment of the present invention, there is provideda program for causing a computer to function as: moving object positionacquisition means for acquiring moving object position information on acurrent position of a moving object moving above a surface of an earth;zone setting means for setting a no-fly zone in which a flight of theunmanned aerial vehicle is inhibited based on the moving object positioninformation; and flight control means for controlling the flight of theunmanned aerial vehicle so that the unmanned aerial vehicle avoids theno-fly zone set based on the moving object position information.

Further, an information storage medium according to one embodiment ofthe present invention is a computer-readable information storage mediumhaving the above-mentioned program stored thereon.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes: unmanned aerial vehicleposition acquisition means for acquiring unmanned aerial vehicleposition information on a current position of the unmanned aerialvehicle; and destination acquisition means for acquiring destinationinformation on a destination of the unmanned aerial vehicle. The flightcontrol means is configured to control the flight of the unmanned aerialvehicle so that the unmanned aerial vehicle arrives at the destinationfrom the current position of the unmanned aerial vehicle by avoiding theno-flight zone based on the unmanned aerial vehicle position informationand the destination information.

Further, in one aspect of the present invention, the zone setting meansis configured to determine at least one of a size or a shape of theno-fly zone based on the moving object position information.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes state acquisition means foracquiring moving object state information on a current state of themoving object. The zone setting means is configured to set the no-flyzone based on the moving object state information.

Further, in one aspect of the present invention, the moving object stateinformation is information on a current movement state of the movingobject, and wherein the zone setting means is configured to set theno-fly zone based on the current movement state indicated by the movingobject state information.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes property acquisition means foracquiring moving object property information on a property of the movingobject. The zone setting means is configured to set the no-fly zonebased on the moving object property information.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes movement estimation meansconfigured to estimate a movement of the moving object from the currentposition based on the moving object position information, the zonesetting means configured to set the no-fly zone based on an estimationresult obtained by the movement estimation means.

Further, in one aspect of the present invention, the movement estimationmeans is configured to chronologically estimate the movement of themoving object. The zone setting means is configured to set the no-flyzone for each time point estimated by the movement estimation means, andthe flight control means is configured to carry out flight control forthe unmanned aerial vehicle based on a chronological change in theno-fly zone.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes information acquisition meansfor acquiring time information on an arrival time and distanceinformation on a movement distance at a time when the unmanned aerialvehicle flies to the destination by avoiding the no-fly zone. The flightcontrol means is configured to carry out the flight control for theunmanned aerial vehicle based on the time information and the distanceinformation.

Further, in one aspect of the present invention, the unmanned aerialvehicle control system further includes specification reception meansfor receiving a specification relating to whether priority is to begiven to the arrival time or the movement distance. The flight controlmeans is configured to carry out the flight control for the unmannedaerial vehicle based on a specification result received by thespecification reception means.

Further, in one aspect of the present invention, the flight controlmeans is configured to cause the unmanned aerial vehicle to wait so thatthe flight of the unmanned aerial vehicle is controlled to avoid theno-fly zone.

Further, in one aspect of the present invention, the moving object is aplayer or a golf cart moving in a golf course. The moving objectposition acquisition means is configured to acquire the moving objectposition information indicating a current position of the player or thegolf cart based on a detection signal of a GPS sensor of a playerterminal or a golf cart terminal. The zone setting means is configuredto set the no-fly zone based on the current position of the player orthe golf cart. The flight control means is configured to control theflight of the unmanned aerial vehicle carrying a package to betransported to a predetermined position in the golf course so that theunmanned aerial vehicle avoids the no-fly zone set based on the currentposition of the player or the golf cart.

Advantageous Effects of Invention

According to the embodiments of the present invention, it is possible toenable the unmanned aerial vehicle to flyby avoiding the no-fly zone,which changes as the moving object moves.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram for illustrating an overall configuration of anunmanned aerial vehicle control system.

FIG. 2 is a diagram for illustrating a package storage, and an exteriorview for illustrating an unmanned aerial vehicle.

FIG. 3 is a diagram for illustrating how a player orders articles.

FIG. 4 is a diagram for illustrating how the articles ordered by theplayer are delivered.

FIG. 5 is a functional block diagram for illustrating an example offunctions implemented in the unmanned aerial vehicle control system.

FIG. 6 is a diagram for illustrating an example of map data.

FIG. 7 is a table for showing an example of pickup point data.

FIG. 8 is a diagram for illustrating how a no-fly zone is set.

FIG. 9 is a diagram for illustrating how the no-fly zone is set.

FIG. 10 is a diagram for illustrating how the no-fly zone is set.

FIG. 11 is a diagram for illustrating how the no-fly zone is set.

FIG. 12 is a diagram for illustrating a flight path that avoids theno-fly zone.

FIG. 13 is a flowchart for illustrating an example of processing carriedout in the unmanned aerial vehicle control system.

FIG. 14 is a flowchart for illustrating, in detail, no-fly zoneavoidance processing.

FIG. 15 is a functional block diagram in modification examples of thepresent invention.

FIG. 16 is a diagram for illustrating the no-fly zone set while theplayer is moving.

FIG. 17 is a diagram for illustrating the no-fly zone set while theplayer is not moving.

FIG. 18 is a diagram for illustrating how no-fly zones are set inModification Example (3) of the present invention.

DESCRIPTION OF EMBODIMENTS [1. Overall Configuration of Unmanned AerialVehicle Control System]

Description is now made of an example of an unmanned aerial vehiclecontrol system according to an embodiment of the present invention. Inthis embodiment, description is made of processing relating to theunmanned aerial vehicle control system taking a case in which anunmanned aerial vehicle delivers articles ordered by a player during around in a golf course as an example.

FIG. 1 is a diagram for illustrating an overall configuration of theunmanned aerial vehicle control system. As illustrated in FIG. 1, theunmanned aerial vehicle control system 1 includes an administratorterminal 10, an unmanned aerial vehicle 20, and a moving object terminal30. The administrator terminal 10, the unmanned aerial vehicle 20, andthe moving object terminal 30 are connected to one another so as toenable transmission/reception of data via a network. In FIG. 1, althoughthe number of each of the administrator terminal 10, the unmanned aerialvehicle 20, and the moving object terminal 30 is one, the number may betwo or more.

The administrator terminal 10 is a computer operated by anadministrator, and is, for example, a personal computer, a servercomputer, or a portable terminal (including a tablet terminal and asmartphone). The administrator is a person who administrates theunmanned aerial vehicle control system 1, and is, for example, a personin charge of providing the delivery service of articles in the golfcourse. For example, the administrator terminal 10 may be configured tobe operated by the administrator in a club house or a vicinity thereofin the golf course. The administrator terminal 10 includes a controller11, a storage 12, a communicator 13, an operation device 14, and adisplay 15.

The controller 11 includes, for example, at least one microprocessor.The controller 11 executes processing in accordance with programs anddata stored in the storage 12. The storage 12 includes a main memory andan auxiliary memory. For example, the main memory is a volatile memory,for example, a RAM, and the auxiliary memory is a non-volatile memorysuch as a hard disk drive or a flash memory. The communicator 13includes a communication interface for wired communication or wirelesscommunication. The communicator 13 performs data communication via thenetwork. The operation device 14 is an input device, and is, forexample, a pointing device such as a touch panel and a mouse, or akeyboard. The operation device 14 is configured to transmit details ofoperation to the controller 11. The display 15 is, for example, a liquidcrystal display or an organic EL display. The display 15 is configuredto display a screen in accordance with an instruction of the controller11.

The unmanned aerial vehicle 20 is an aerial vehicle that does notaccommodate a person, and is, for example, an unmanned aerial vehicle(so-called drone) driven by a battery or an unmanned aerial vehicledriven by an engine. In this embodiment, it is assumed that the unmannedaerial vehicle 20 has a takeoff and landing point near the club house,and is under administration of the administrator. The unmanned aerialvehicle 20 includes a controller 21, a storage 22, a communicator 23, asensor group 24, and a package storage 25. Hardware configurations ofthe controller 21, the storage 22, and the communicator 23 are the sameas those of the controller 11, the storage 12, and the communicator 13,respectively, and thus a description thereof is omitted. Moreover, theunmanned aerial vehicle 20 also includes general physical componentssuch as propellers, motors, and a battery, but those components are notdescribed herein.

The sensor group 24 includes a camera 24A and a GPS sensor 24B. Thecamera 24A include an image pickup element such as a CCD image sensor ora CMOS image sensor, and records an image (still image or moving image)photographed by the image pickup element as digital data. The GPS sensor24B includes a receiver configured to receive signals from satellites,and detects positional information based on the signals received by thereceiver. Any sensor may be mounted on the unmanned aerial vehicle 20,and the sensor group 24 may include, for example, an infrared sensor, asound sensor (microphone), an anemometer, an acceleration sensor, a gyrosensor, a geomagnetic sensor, an altitude sensor, a displacement sensor,a temperature sensor, or a heat detection sensor.

The package storage 25 includes fixing members configured to fix apackage to the unmanned aerial vehicle 20. FIG. 2 is a diagram forillustrating the package storage 25, and is an exterior view forillustrating the unmanned aerial vehicle 20. As illustrated in FIG. 2,for example, the package storage 25 includes a frame 25A having a spacefor storing a package. For example, when articles ordered by the playerare packed in a box, and are transported, the frame 25A has such a sizethat the box can be loaded and fixed inside.

Moreover, the package storage 25 includes arms 25B configured to supportthe package during transportation so as to prevent the package fromdropping and fixing members 25C including publicly-known lockmechanisms. The administrator places the package on the arms 25B, andthen closes the fixing members 25C so as to prevent the package fromhorizontally moving. The arms 25B are configured to be capable ofopening/closing through a rotation of a motor, which is not shown. Whenthe unmanned aerial vehicle 20 lands at a predetermined pickup point,the arms 25B open downward, and the package placed on the arms 25B fallsdown by some centimeters, and can be placed on the ground.

The package storage 25 is only required to have a space for storing andfixing the package, and is not limited to the above-mentioned example.For example, the package storage 25 may include arms for sandwiching apackage in the horizontal direction and the vertical direction forfixing, or may include magnets for fixing a package through magneticforce. Moreover, for example, the package storage 25 may include astorage container, a net, or a bag for storing a package.

The moving object terminal 30 is a computer moving along with a movingobject, and is, for example, a personal computer, or a portable terminal(including a tablet terminal and a smartphone). The moving object is anobject moving on the ground, and is, for example, an animal such as ahuman, an automobile, a motorbike, or a train. In other words, themoving object is a subject of setting a no-fly zone. In this embodiment,description is made of a case in which the player moving in the golfcourse is the moving object. The moving object terminal 30 is a portableterminal, and, for example, is stored in a pocket of clothes worn by theplayer.

The moving object terminal 30 includes a controller 31, a storage 32, acommunicator 33, the operation device 34, a display 35, and a GPS sensor36. Those hardware configurations are similar to those of the controller11, the storage 12, the communicator 13, the operation device 14, thedisplay 15, and the GPS sensor 24B, and thus a description thereof isomitted here.

Programs and data to be described as being stored into the storages 12,22, and 23 may be supplied thereto via a network. Further, the hardwareconfigurations of the administrator terminal 10, the unmanned aerialvehicle 20, and the moving object terminal 30 are not limited to theabove-mentioned examples, and various pieces of computer hardware can beapplied. For example, each of the administrator terminal 10, theunmanned aerial vehicle 20, and the moving object terminal 30 mayinclude a reader (e.g., optical disc drive or memory card slot)configured to read a computer-readable information storage medium. Inthis case, programs and data stored in the computer-readable informationstorage medium may be supplied to each computer via the reader.

[2. Overview of Processing by Unmanned Aerial Vehicle Control System]

Referring to FIG. 3 and FIG. 4, description is made of an overview ofprocessing by the unmanned aerial vehicle control system 1. FIG. 3 is adiagram for illustrating how the player orders articles. FIG. 4 is adiagram for illustrating how the articles ordered by the player aredelivered.

As illustrated in FIG. 3, when the player operates the operation device34 to activate a dedicated application, or to connect from a web browserto a predetermined web site, an order screen 40A for selecting a hole inwhich the player is playing is displayed on the display 35. When theplayer selects the hole in which the player is playing from the orderscreen 40A, an order screen 40B for displaying a pickup point of thearticles is displayed. The pickup point of the articles is set to, forexample, a predetermined location in a hole subsequent to the hole inwhich the player is playing.

When the player selects an order button 41 on the order screen 40B, anorder screen 40C displaying a list 42 of articles is displayed. When theplayer selects an icon 43 in the list 42, the player can add the articlein a shopping cart. An upper limit value is set to a total weight ofarticles that the unmanned aerial vehicle 20 can transport. Arelationship 44 between the total weight of articles added to theshopping cart and the upper limit value is displayed on the order screen40C. When the player carries out a predetermined operation of orderingthe articles added to the shopping cart, the details of the order aretransmitted from the moving object terminal 30 to the administratorterminal 10, and a message indicating completion of the order isdisplayed on the order screen 40D.

When the administrator terminal 10 receives the details of the ordercontent from the movable body terminal 30, an order reception screen 50illustrated in FIG. 4 is displayed on the display 15. The administratorchecks the details of the order from the order reception screen 50, packthe articles in a dedicated box, loads the box inside the frame 25A ofthe package storage 25, and closes and locks the fixing members 25C.When the administrator operates the operation device 14 to select adelivery start button 51, a delivery instruction for the articles istransmitted from the administrator terminal 10 to the unmanned aerialvehicle 20. In this embodiment, it is assumed that a shortest flightpath from the club house C to the pickup point Q is contained in thedelivery instruction. The flight path may indicate not only passagepoints of the flight, but also a flight plan containing passage timepoints at the respective passage points. The unmanned aerial vehicle 20starts the flight based on the flight path contained in the deliveryinstruction.

The administrator terminal 10 is configured to receive current positionsof the unmanned aerial vehicle 20 and the moving object terminals 30during the flight of the unmanned aerial vehicle 20, and adjust theflight path so that the unmanned aerial vehicle 20 does not fly nearrespective players during the round and near estimated trajectories ofshots. When the flight path is required to be changed, the administratorterminal 10 transmits a new flight path to the unmanned aerial vehicle20. The unmanned aerial vehicle 20 changes the flight path based on thereceived new flight path. In such a manner, the unmanned aerial vehiclecontrol system 1 is configured to adjust the flight path from the startof the unmanned aerial vehicle 20 for the delivery of articles to areturn to the club house C after the delivery of the articles so thatthe unmanned aerial vehicle avoids the vicinities of the players and thevicinities of the estimated trajectories of shots. Detailed descriptionis now made of this technology.

[3. Functions Implemented in Unmanned Aerial Vehicle Control System]

FIG. 5 is a functional block diagram for illustrating an example offunctions implemented in the unmanned aerial vehicle control system 1.As illustrated in FIG. 5, in the unmanned aerial vehicle control system1, a data storage 100, an unmanned aerial vehicle position acquisitionmodule 101, a moving object position acquisition module 102, a zonesetting module 103, a destination acquisition module 104, and a flightcontroller 105 are implemented. In this embodiment, description is madeof a case in which those respective functions are implemented in theadministrator terminal 10.

[3-1. Data Storage]

The storage 12 mainly implements the data storage 100. The data storage100 is configured to store data used to determine the flight path of theunmanned aerial vehicle 20. In the following, description is made of mapdata on a region in which the unmanned aerial vehicle 20 flies andpickup point data indicating pickup points, which are examples ofdestinations of the unmanned aerial vehicle 20 as data stored in thedata storage 100.

FIG. 6 is a diagram for illustrating an example of the map data. In thisembodiment, the unmanned aerial vehicle 20 flies over the golf course,and, as illustrated in FIG. 6, the map data may be a hole map indicatinga layout of respective holes. A map indicated by the map data may be atwo-dimensional map only formed of two-dimensional information or athree-dimensional map also containing information on height. The mapdata of FIG. 6 indicates a layout of respective golf holes including afirst hole H₁ to a ninth hole H₉. For example, the map data containslatitude/longitude information on respective positions on the map. Inother words, the map data contains latitude/longitude information on aregion illustrated in the map. The latitude/longitude information isinformation specifying a position in the north/south direction and aposition in the east/west direction on the earth, and is, for example,represented as respective numerical values in degree, minute, andsecond.

A freely-selected position in the map indicated by the map data isregistered in advance to the data storage 100 as the takeoff and landingpoint of the unmanned aerial vehicle 20. In this embodiment, the takeoffand landing point of the unmanned aerial vehicle 20 is in the vicinityof the club house C, and latitude/longitude information on a position Pin the vicinity of the club house C is thus registered as the takeoffand landing point of the unmanned aerial vehicle 20.

FIG. 7 is a table for showing an example of the pickup point data. Asshown in FIG. 7, a relationship between a hole in which the player isplaying, which is selected by the player from the order screen 40A andidentification information on a pickup point is defined in the pickuppoint data. For example, as the identification information on the pickuppoint, latitude/longitude information on the pickup point may be stored.In this embodiment, it is assumed that positions Q₅ to Q₉ in thevicinity of tee grounds of the fifth hole H₅ to the ninth hole H₉ arespecified as the pickup points. Which of those five positions Q₅ to Q₉is selected as a pickup point depends on the hole selected by theplayer.

The data stored in the data storage 100 is not limited to theabove-mentioned example. For example, the data storage 100 may storearticle data on articles and player data on players. For example, foreach article, an image, a detailed description, an availability state, aweight, a volume, and the like of the article are stored in the articledata, and are referred to in order to display the order screen 40C.Moreover, in the player data, for each player, an account, personalinformation, information on payment for articles, information on themoving object terminal 30, and the like of the player may be stored.

[3-2. Unmanned Aerial Vehicle Position Acquisition Module]

The controller 11 mainly implements the unmanned aerial vehicle positionacquisition module 101. The unmanned aerial vehicle position acquisitionmodule 101 is configured to acquire unmanned aerial vehicle positioninformation on the current position of the unmanned aerial vehicle 20.The unmanned aerial vehicle position information is only required to beinformation that can identify the position of the unmanned aerialvehicle 20. Description is now made of a case in which thelatitude/longitude information detected by the GPS sensor 24B is used asthe unmanned aerial vehicle position information. The unmanned aerialvehicle position information may be information on a base station (forexample, information on an access point of a wireless LAN) to/from whichthe communicator 33 of the unmanned aerial vehicle 20 wirelesslycommunicates.

For example, the unmanned aerial vehicle position acquisition module 101is configured to carry out time keeping processing, and acquire thelatest unmanned aerial vehicle position information each time a certainperiod elapses. In this embodiment, the administrator terminal 10implements the unmanned aerial vehicle position acquisition module 101.Therefore, the unmanned aerial vehicle position acquisition module 101is configured to transmit an acquisition request for the unmanned aerialvehicle position information to the unmanned aerial vehicle 20 each timethe certain period elapses. When the unmanned aerial vehicle 20 receivesthe acquisition request, the unmanned aerial vehicle 20 transmits thelatitude/longitude information detected by the GPS sensor 24B to theadministrator terminal 10 as the unmanned aerial vehicle positioninformation. The unmanned aerial vehicle position acquisition module 101receives the transmitted unmanned aerial vehicle position information.

Even when the acquisition request is not transmitted as described above,the unmanned aerial vehicle 20 may carry out the time keeping processingso that the unmanned aerial vehicle position information is transmittedfrom the unmanned aerial vehicle 20 to the administrator terminal 10each time a certain period elapses. Moreover, in this embodiment,description is made of the case in which the unmanned aerial vehicleposition acquisition module 101 is configured to periodically acquirethe unmanned aerial vehicle position information, but the unmannedaerial vehicle position acquisition module 101 maybe configured tonon-periodically acquire the unmanned aerial vehicle positioninformation at randomly defined timing or the like.

[3-3. Moving object Position Acquisition Module]

The controller 11 mainly implements the moving object positionacquisition module 102. The moving object position acquisition module102 is configured to acquire moving object position information on acurrent position of the moving object moving above a surface of theearth. The moving object position information is only required to beinformation that can identify the position of the moving object. On thisoccasion, description is made of a case in which the latitude/longitudeinformation detected by the GPS sensor 36 is used as the moving objectposition information. That is, in this embodiment, the GPS sensor 36 isprovided in the moving object terminal 30, and the moving objectposition acquisition module 102 is configured to acquire the movingobject position information indicating a current position of the playerbased on a detection signal of the GPS sensor 36 of the moving objectterminal 30. The moving object position information may be informationon a base station (for example, information on an access point of awireless LAN) to/from which the communicator 33 of the moving objectterminal 30 wirelessly communicates.

For example, the moving object position acquisition module 102determines whether or not the unmanned aerial vehicle 20 has approacheda predetermined place based on the unmanned aerial vehicle positioninformation acquired by the unmanned aerial vehicle position acquisitionmodule 101. Then, when the moving object position acquisition module 102determines that the unmanned aerial vehicle 20 has approached thepredetermined place, the moving object position acquisition module 102transmits an acquisition request for the moving object positioninformation to the moving object terminal 30. In order to prevent theunmanned aerial vehicle 20 from becoming an obstacle to all the playersduring the round, the acquisition request is transmitted not only to themoving object terminal 30 of the player who has placed the order, butalso to the moving object terminals 30 of all the players during theround. When the moving object terminal 30 of each of the playersreceives the acquisition request, the moving object terminal 30transmits the latitude/longitude information detected by the GPS sensor36 to the administrator terminal 10 as the moving object positioninformation. The moving object position acquisition module 102 receivesthe transmitted moving object position information.

For example, the predetermined place may be each of the holes in thegolf course. Therefore, the moving object position acquisition module102 is configured to determine whether or not the unmanned aerialvehicle 20 has approached any one of the holes based on the unmannedaerial vehicle position information and the map data. When the movingobject position acquisition module 102 determines that the unmannedaerial vehicle 20 has approached any one of the holes, the moving objectposition acquisition module 102 transmits the acquisition request toeach of the moving object terminals 30.

As described above, the moving object position acquisition module 102may be configured not to acquire the moving object position informationat the timing corresponding to the position of the unmanned aerialvehicle 20, but to non-periodically acquire the moving object positioninformation, for example, at a timing randomly defined. Further, themoving object position acquisition module 102 may be configured not tonon-periodically acquire the moving object position information, but toperiodically acquire the moving object position information. Forexample, the moving object position acquisition module 102 may beconfigured to carry out time keeping processing, and acquire latestmoving object position information each time a certain period elapses.In this case, the moving object position acquisition module 102 may beconfigured to transmit an acquisition request for the moving objectposition information to the moving object terminal 30 each time thecertain period elapses. Even when the acquisition request is nottransmitted as described above, the moving object terminal 30 may carryout the time keeping processing, and transmit the moving object positioninformation from the moving object terminal 30 to the administratorterminal 10 each time a certain period elapses.

Moreover, although description is made of the case in which the movingobject position information is acquired through the GPS sensor 36 of themoving object terminal 30, the moving object position information may beacquired through the camera 24A of the unmanned aerial vehicle 20. Inthis case, the moving object position information may be information ona relative position relationship between the unmanned aerial vehicle 20and the player. Additionally, for example, when the sensor group 24includes a heat detection sensor, the moving object position informationmaybe acquired based on a detection result of the heat detection sensor.

[3-4. Zone Setting Module]

The controller 11 mainly implements the zone setting module 103. Thezone setting module 103 is configured to set no-fly zones in which theflight of the unmanned aerial vehicle 20 is inhibited based on themoving object position information. In this embodiment, description ismade of the case in which the golf players are moving bodies. Therefore,the zone setting module 103 is configured to set the no-fly zones basedon the current positions of the players.

The no-fly zone is set to a region in which the unmanned aerial vehicle20 may fly, and may mean, for example, a zone in which the flight of theunmanned aerial vehicle 20 obstructs the player, or a zone in which theplayer obstructs the flight of the unmanned aerial vehicle 20. In otherwords, the no-fly zone may mean a zone in which the flight of theunmanned aerial vehicle 20 causes a contact with the player or a hitball, or a zone in which the flight of the unmanned aerial vehicle 20distracts the ears and eyes of the player.

The zone setting module 103 is configured to set a no-fly zone at aposition determined based on the moving object position information. Forexample, the zone setting module 103 may be configured to set a no-flyzone so that the no-fly zone contains a position indicated by the movingobject position information. In this case, the position indicated by themoving object position information is only required to be any positioninside the no-fly zone, and may be, for example, a center of gravity ofa no-fly zone, or a position different from the center of gravity.Further, for example, the zone setting module 103 may be configured toset a no-fly zone that falls within a predetermined distance from theposition indicated by the moving object position information, so thatthe no-fly zone does not contain the position. In this case, the zonesetting module 103 may be configured to set the no-fly zone so that theno-fly zone surrounds the position indicated by the moving objectposition information, or set the no-fly zone between the positionindicated by the unmanned aerial vehicle position information and theposition indicated by the moving object position information.

A size and a shape of the no-fly zone may be a fixed size and a fixedshape regardless of the moving object position information. However, inthis embodiment, description is made of a case in which the regionsetting module 103 determines at least one of the size or the shape ofthe no-fly zone based on the moving object position information. Inother words, at least one of the size or the shape of the no-fly zonechanges in accordance with the moving object position information. Thesize means the area of the no-fly zone. The shape means a shape of acontour of the no-fly zone. In the following, description is made of thecase in which both the size and the shape of the no-fly zone arevariable, but only one thereof may be variable.

A relationship between the moving object position information and thesize and the shape of the no-fly zone may be described in a program, ormay be stored as data in form of a numerical expression or in a form ofa table in the data storage 100. The above-mentioned relationship canalso be considered as a relationship between the position on the earthand the size and the shape of the no-fly zone. The zone setting module103 is configured to set a no-fly zone having a size and a shapeassociated with the moving object position information acquired by themoving object position acquisition module 102. In this embodiment, it isassumed that the above-mentioned relationship is defined for each of theholes in the golf course.

FIG. 8 to FIG. 11 are diagrams for illustrating how no-fly zones areset. Description is now made of a no-fly zone set when the player is inthe ninth hole H₉ as an example. As illustrated in FIG. 8, the ninthhole H₉ is divided into a plurality of divided regions H₉₁ to H₉₃. Thedivided regions H₉₁ to H₉₃ are regions of an opening stage, a middlestage, and a closing stage of the hole, respectively. Ranges in whichthe flight of the unmanned aerial vehicle 20 obstructs the player in therespective divided regions are different from one another. Therefore,the sizes and the shapes of the no-fly zones of the respective dividedregions are different from one another.

For example, when the position indicated by the moving object positioninformation is contained in the divided region H₉₁, as illustrated inFIG. 9, the zone setting module 103 sets a no-fly zone A₉₁ based on themoving object position information, and a reference direction V₉₁associated with the divided region H₉₁. The reference direction V₉₁ is astandard shot direction at a time when a ball is in the divided regionH₉₁, and is, for example, a front direction as viewed from the teeground. That is, the reference direction V₉₁ is a direction toward whichthe player is predicted to hit the ball from the divided region H₉₁, ora direction in which the player in the divided region H₉₁ is predictedto see. In other words, the reference direction V₉₁ is a directiontoward which a no-fly zone A₉₁ becomes wider as viewed from a positionM₁ indicating the moving object position information.

In the example illustrated in FIG. 9, the zone setting module 103 setsthe no-fly zone A₉₁ containing a circular region containing the positionM₁, and having a radius L₁ and a circular-sector region defined based onthe position M₁ and the reference direction V₉₁. The circular-sectorregion is a region having the position M₁ as a center, having a linesegment that extends from the position M₁ in the reference direction V₉₁and has a length L₂ as a radius, and having a predetermined centerangle. The circular region is used to prevent the unmanned aerialvehicle 20 from flying around the player. That is, the circular regionis used to prevent the unmanned aerial vehicle 20 from coming in contactwith the player and prevent a flying noise of the unmanned aerialvehicle 20 from distracting the ears of the player. On the other hand,the circular-sector region is used to prevent the unmanned aerialvehicle 20 from flying around a ball trajectory, and is also used toprevent the unmanned aerial vehicle 20 from entering the field of visionof the player, or to prevent the unmanned aerial vehicle 20 and the ballfrom coming in contact with each other.

Moreover, for example, when the position indicated by the moving objectposition information is contained in the divided region H₉₂, asillustrated in FIG. 10, the zone setting module 103 sets a no-fly zoneA₉₂ based on the moving object position information and a referencedirection V₉₂ associated with the divided region H₉₂ . For example, thezone setting module 103 sets the no-fly zone A₉₂ containing a circularregion containing a position M₂ indicated by the moving object positioninformation, and having a radius L₃ and a circular-sector region definedbased on the position M₂ and the reference direction V₉₂. The referencedirection V₉₂ is a direction different from the reference direction V₉₁,and is, for example, a direction from any point in the divided regionH₉₂ toward a pin in a green. Moreover, the radii L₃ and L₄ arerespectively different from the radii L₁ and L₂. Therefore, the size andthe shape of the no-fly zone A₉₂ are different from the size and theshape of the no-fly zone A₉₁.

Moreover, for example, when the position indicated by the moving objectposition information is contained in the divided region H₉₃, asillustrated in FIG. 11, the zone setting module 103 sets a circularregion containing a position M₃ indicated by the moving object positioninformation, and having a radius L₅ as a no-fly zone A₉₃. In such a way,the no-fly zone A₉₃ may be set without using a reference direction.Moreover, the divided region H₉₃ contains a green, and the radius L₅ maythus be set to be longer than the radii L₃ and L₄ so as to promoteconcentration of the player on a putt. The no-fly zone A₉₃ does notinclude a circular-sector region, and is thus different from the no-flyzones A₉₁ and A₉₂ in size and shape.

The no-fly zone may take any shape, and is not limited to the circle,the circular-sector, or the combination thereof described above. Theno-fly zone may be a polygon such as a triangle or a quadrangle, or anellipsoid.

[3-5. Destination Acquisition Module]

The controller 11 mainly implements the destination acquisition module104. The destination acquisition module 104 is configured to acquiredestination information on a destination of the unmanned aerial vehicle20. The destination is a destination of the unmanned aerial vehicle 20,and, in this embodiment, is the pickup point of the articles ordered bythe player or the takeoff and landing point of the unmanned aerialvehicle 20 after the delivery. Therefore, in this embodiment, thedestination acquisition module 104 is configured to acquirelongitude/latitude information on any one of the pickup points listed inthe pickup point data, or longitude/latitude information registered asthe takeoff and landing point as the destination information.

When it is permitted to freely set the destination of the unmannedaerial vehicle 20, the destination may be input from the operationdevice 14 or 34. That is, the destination acquisition module 104 may beconfigured to acquire the destination information from the data storage100 or acquire the destination information input from the operationdevice 14 or 34. Moreover, in this embodiment, description is made of acase in which a destination is set, but a specific destination may notbe set as in a case in which, for example, the unmanned aerial vehicle20 circulates over the golf course.

[3-6. Flight Controller]

The controller 11 mainly implements the flight controller 105. Theflight controller 105 is configured to control the flight of theunmanned aerial vehicle 20 so that the unmanned aerial vehicle 20 avoidsthe no-fly zones set based on the moving object position information. Inthis embodiment, description is made of the case in which the flightcontroller 105 is implemented in the administrator terminal 10, andtransmission of a flight path to the unmanned aerial vehicle 20 thuscorresponds to the control of the flight of the unmanned aerial vehicle20.

For example, the flight controller 105 determines such a flight path asto avoid the no-fly zones based on a path search algorithm. The flightpath that avoids the no-fly zones means that the flight path does notcross the no-fly zones at all, or a distance, a rate, or a flight periodof portions of the flight path crossing the no-fly zones is less than athreshold value. As the path search algorithm itself, publicly-knownvarious algorithms can be applied. For example, the shortest path searchalgorithm such as the Dijkstra's algorithm or the A* algorithm may beused. For example, the flight controller 105 sets the no-fly zones asobstacles in one of the publicly-known algorithms, and then carries outthe path search for avoiding the obstacles, to thereby determine theflight path that avoids the no-fly zones.

For example, the flight controller 105 may be configured to compare acurrent flight path and the no-fly zones with each other, to therebydetermine whether or not the current flight path avoids the no-flyzones. When the flight controller 105 determines that the current flightpath avoids the no-fly zones, the flight controller 105 does not changethe flight path. On the other hand, when the flight controller 105determines that the current flight path does not avoid the no-fly zones,the flight controller 105 newly acquires a flight path that avoids theno-fly zones.

FIG. 12 is a diagram for illustrating a flight path that avoids theno-fly zone. As illustrated in FIG. 12, the current flight path R₀crosses the no-fly zone A₉₂. Thus, the flight controller 105 determinesthat the current flight path R₀ does not avoid the no-fly zone A₉₂.Then, the flight controller 105 acquires a new flight path R₁ so thatthe unmanned aerial vehicle avoids the no-fly zone A₉₂ based on the pathsearch algorithm. In the example of FIG. 12, the new flight path R₁ is aflight path along which the unmanned aerial vehicle 20 flies to thedestination without crossing the no-fly zone.

For example, for an outward route, the flight controller 105 is onlyrequired to set the current position or the position of the takeoff andlanding point of the unmanned aerial vehicle 20 as a start point, setthe position of the pickup point as an arrival point, set the no-flyzones as obstacles, and then apply the path search algorithm to acquirea new flight path. On the other hand, for a return route, the flightcontroller 105 is only required to set the current position of theunmanned aerial vehicle 20 or the position of the pickup point as astart point, set the position of the takeoff and landing point of theunmanned aerial vehicle 20 as an arrival point and the no-fly zones asobstacles, and apply the path search algorithm to acquire a new flightpath.

As described above, in this embodiment, the destination of the unmannedaerial vehicle 20 is defined, and thus the flight controller 105 isconfigured to control the flight of the unmanned aerial vehicle 20 basedon the unmanned aerial vehicle position information and the destinationinformation so that the unmanned aerial vehicle 20 arrives at thedestination from the current position of the unmanned aerial vehicle 20by avoiding the no-fly zones. Moreover, in this embodiment, descriptionis made of the case in which the player of the golf is a moving object.Therefore, the flight controller 105 is configured to control the flightof the unmanned aerial vehicle 20 carrying packages to be brought to apredetermined point in the golf course to avoid the no-fly zones setbased on the current positions of the players.

The method of acquiring the flight path that avoids the no-fly zones isnot limited to the above-mentioned example. For example, the flightcontroller 105 may not calculate a new flight path again through thepath search algorithm, but may move a portion of the current flight pathcontained in each of the no-fly zones toward an outside of the no-flyzone, to thereby acquire a new flight path. That is, the flightcontroller 105 is only required to acquire a flight path that detoursthe no-fly zones through any method.

[4. Processing to be executed by Unmanned Aerial Vehicle Control System]

FIG. 13 is a flowchart for illustrating an example of processing to beexecuted by the unmanned aerial vehicle control system 1. The processingillustrated in FIG. 13 is executed by the controllers 11, 21, and 31operating in accordance with programs stored in the storages 12, 22, and32, respectively. In this embodiment, the functional blocks illustratedin FIG. 5 are implemented through execution of processing describedbelow.

As illustrated in FIG. 13, first, in the moving object terminal 30, thecontroller 31 displays an order screen 40 on the display 35, to therebyreceive an order of articles from the player (Step S1). In Step S1, theorder operation is carried out in accordance with the flow describedwith reference to FIG. 3. For example, a hole selected by the playerfrom the order screen 40A is transmitted from the moving object terminal30 to the administrator terminal 10. Information on a pickup pointassociated with the selected hole in the pickup point data istransmitted from the administrator terminal 10 to the moving objectterminal 30. When the player selects the order button 41 on the orderscreen 40B, a predetermined notification is transmitted from the movingobject terminal 30 to the administrator terminal 10, and information onthe articles indicated by the article data is transmitted from theadministrator terminal 10 to the moving object terminal 30. When theplayer selects articles from the order screen 40C, and carries out thepredetermined operation, the order is established.

When the predetermined operation is carried out on the order screen 40C,the controller 31 transmits the details of the order to theadministrator terminal 10 (Step S2). The details of the ordertransmitted in Step S2 include identification information on the movingobject terminal 30 and information on the articles ordered by theplayer. In the administrator terminal 10, when the details of the orderare received, the controller 11 displays the order reception screen 50used to notify the administrator of the ordered articles on the display15 (Step S3). Then, the administrator packs the articles ordered by theplayer in a box, and loads and fixes the box in the package storage 25.

When the administrator selects the delivery instruction button 51, thecontroller 11 determines the shortest path to the pickup point as aninitial flight path for the outward route based on the map data and thepickup point data, and transmits a delivery start instruction to theunmanned aerial vehicle 20 (Step S4). In Step S4, the controller 11acquires the latitude/longitude information on the takeoff and landingpoint registered to the storage 12, and the latitude/longitudeinformation on the pickup point stored in the pickup point data. Then,the controller 11 refers to the map data to acquire latitude/longitudeinformation on the shortest path from the takeoff and landing point tothe pickup point, and determines the latitude/longitude information asthe initial flight path for the outward route. The delivery startinstruction contains the initial flight path for the outward route.

In the unmanned aerial vehicle 20, when the delivery start instructionis received, the controller 21 starts the flight based on the initialflight path for the outward route (Step S5). Publicly-known variousautonomous flight control can be applied to a method itself of flyingbased on a specified flight path. For example, the unmanned aerialvehicle 20 considers the unmanned aerial vehicle position informationdetected by the GPS sensor 24B as the current position of the ownvehicle, and controls the respective propellers so as to move at thelatitude and the longitude indicated by the flight path. For example,the unmanned aerial vehicle 20 does not horizontally move when numbersof rotations of the respective propellers are the same or approximatelythe same, and moves toward a direction of a propeller relatively lowerin number of rotations when the number of rotations of the respectivepropellers are different from one another. Therefore, parametersindicating the number of rotations of the respective propellers are onlyrequired to be determined so as to relatively reduce the number ofrotations of the propellers on a flight direction side indicated by theflight path. The unmanned aerial vehicle 20 is only required to identifyan attitude and the direction of the own vehicle through a gyro sensoror a geomagnetic sensor.

When the unmanned aerial vehicle 20 starts the flight, no-fly zoneavoidance processing for the unmanned aerial vehicle 20 to avoid theno-fly zones in the outward route is carried out between theadministrator terminal 10 and the unmanned aerial vehicle (Step S6).

FIG. 14 is a flowchart for illustrating, in detail, the no-fly zoneavoidance processing. As illustrated in FIG. 14, in the unmanned aerialvehicle 20, the controller 21 periodically transmits the unmanned aerialvehicle position information detected by the GPS sensor 24B to theadministrator terminal 10 (Step S100). In Step S100, the controller 21carries out the time keeping processing, to thereby transmit the latestunmanned aerial vehicle position information to the administratorterminal 10 each time the certain period elapses.

In the administrator terminal 10, when the unmanned aerial vehicleposition information is received, the controller 11 determines whetheror not the unmanned aerial vehicle 20 has approached any one of theholes based on the unmanned aerial vehicle position information and themap data (Step S101). The latitude/longitude information on each of theholes is indicated in the map data. Therefore, in Step S101, thecontroller 11 determines whether or not a di stance between the positionindicated by the unmanned aerial vehicle position information and eachof the holes has become less than a threshold value.

When it is not determined that the unmanned aerial vehicle 20 hasapproached any one of the holes (N in Step S101), the no-fly zoneavoidance processing is finished. In this case, the unmanned aerialvehicle 20 is not flying in a vicinity of each of the holes, and aprobability that players are not close to the unmanned aerial vehicle 20is thus high. Therefore, it is considered that the flight path is notrequired to be changed, and the flight is continued while the currentflight path is maintained.

On the other hand, when it is determined that the unmanned aerialvehicle 20 has approached any one of the holes (Y in Step S101), thecontroller 11 transmits an acquisition request for the moving objectposition information to each of the moving object terminals 30, tothereby acquire the moving object position information (Step S102). InStep S102, the controller 11 transmits the acquisition request not onlyto the moving object terminal 30 of the player who has placed the order,but also to the moving object terminals 30 of all the players during theround, to thereby acquire the moving object position information.

It is assumed that the administrator terminal 10 and the moving objectterminals 30 of the respective players are connected to one another inadvance so as to be capable of transmitting/receiving data. Moreover,identification information (for example, the IP address or individualidentification information) for identifying the moving object terminal30 of each of the players is stored in the storage 12 in advance. Thecontroller 11 thus transmits the acquisition request for the movingobject position information based on the identification information. Itis assumed that the moving object terminal 30 of each of the players isset in advance to automatically provide the moving object positioninformation when the acquisition request is received.

The controller 11 determines whether or not players exist in the holethat the unmanned aerial vehicle 20 has approached based on the map dataand the moving object position information (Step S103). In Step S103,the controller 11 determines whether or not the moving object positioninformation is detected in the hole that the unmanned aerial vehicle 20has approached, or in a region within a predetermined distance from thishole.

When it is determined that players do not exist (N in Step S103), theno-fly zone avoidance processing is finished. In this case, players donot exist in the hole that the unmanned aerial vehicle 20 hasapproached, and crossing this hole does not pose any problem. Thus, theunmanned aerial vehicle 20 continues the flight while the current flightpath is maintained.

On the other hand, when it is determined that players exist (Y in StepS103), the controller 11 sets a no-fly zone to the hole that theunmanned aerial vehicle 20 has approached based on the moving objectposition information (Step S104). In Step S104, the controller 11determines the size and the shape of the no-fly zone based on the movingobject position information in the hole that the unmanned aerial vehicle20 has approached, or in a region within a predetermined distance fromthis hole. The controller 11 sets the no-fly zone having the determinedsize and shape on the map indicated by the map data.

The controller 11 determines whether or not the current flight pathcrosses the no-fly zone set in Step S104 (Step S105). In Step S105, thecontroller 11 determines whether or not the latitude/longitudeinformation on the flight path is contained in the no-fly zone.

When it is not determined that the flight path crosses the no-fly zone(N in Step S105), the no-fly zone avoidance processing is finished. Inthis case, players exist in the hole that the unmanned aerial vehicle 20has approached, but the unmanned aerial vehicle 20 does not fly close tothe players, and crossing this hole thus does not pose any problem.Thus, the unmanned aerial vehicle 20 continues the flight while thecurrent flight path is maintained.

On the other hand, when it is determined that the unmanned aerialvehicle 20 crosses the no-fly zone (Y in Step S105), the controller 11determines a new flight path so that the unmanned aerial vehicle 20avoids the no-fly zone set in Step S104, and transmits the new flightpath to the unmanned aerial vehicle 20 (Step S106). In Step S106, thecontroller 11 calculates a flight path from the latest unmanned aerialvehicle position information to the destination (the pickup point forthe outward route or the takeoff and landing point for the return route)that detours the no-fly zone based on the path search algorithm.

In the unmanned aerial vehicle 20, when the new flight path is received,the controller 21 changes the flight path to the new flight path (StepS107), and the no-fly zone avoidance processing is finished. In StepS107, the controller 21 switches the flight path referred to in theautonomous flight control to the new flight path.

Returning to FIG. 13, when the no-fly zone avoidance processing in StepS6 is carried out, in the unmanned aerial vehicle 20, the controller 21determines whether or not the unmanned aerial vehicle 20 has arrived atthe pickup point based on the unmanned aerial vehicle positioninformation detected by the GPS sensor 24B (Step S7). In Step S7, thecontroller 21 determines whether or not the unmanned aerial vehicleposition information and latitude/longitude information at an end pointof the flight path for the outward route match each other.

When it is not determined that the unmanned aerial vehicle 20 hasarrived at the pickup point (N in Step S7), the no-fly zone avoidanceprocessing in Step S6 is carried out again, and the flight path isadjusted so that the unmanned aerial vehicle 20 avoids no-fly zonesuntil the arrival at the pickup point.

On the other hand, when it is determined that the unmanned aerialvehicle 20 has arrived at the pickup point (Y in Step S7), thecontroller 21 unloads the articles at the pickup point, and transmits apredetermined delivery completion notification to the administratorterminal 10 (Step S8). In Step S8, the controller 21 reduces the numberof rotations of the respective propellers to reduce the height of theunmanned aerial vehicle 20, to thereby cause the unmanned aerial vehicle20 to land on the ground. A predetermined mark for guiding the landinglocation may be placed at the pickup point, and the controller 21 mayuse the camera 24A to detect this mark, to thereby increase theprecision of the landing position. When the unmanned aerial vehicle 20has landed, the controller 21 controls the motor so that the unmannedaerial vehicle 20 opens the arms 25B of the package storage 25, tothereby drop the package downward by some centimeters. The controller 21may determine that the unmanned aerial vehicle 20 has landed when thenumber of rotations of the propellers are set to 0. Alternatively, apressure-sensitive sensor may be placed on a surface of the unmannedaerial vehicle 20 that comes in contact with the ground, and the landingmay be detected based on a detection signal of the pressure-sensitivesensor. Moreover, the delivery completion notification is only requiredto be carried out in a predetermined data format.

In the administrator terminal 10, when the delivery completionnotification is received, the controller 11 determines an initial flightpath for the return route, and transmits the return start instruction(Step S9). In Step S9, the controller 11 acquires the latitude/longitudeinformation on the takeoff and landing point registered to the storage12, and the latest unmanned aerial vehicle position information orlatitude/longitude information on the pickup point. Then, the controller11 refers to the map data to acquire latitude/longitude information onthe shortest path from the current position of the unmanned aerialvehicle 20 or the pickup point to the takeoff and landing point, anddetermines the shortest path as the initial flight path for the returnroute. The return start instruction contains the initial flight path forthe return route.

In the unmanned aerial vehicle 20, when the return start instruction isreceived, the controller 21 starts the return to the takeoff and landingpoint based on the initial flight path for the return route contained inthe return start instruction (Step S10). The no-fly zone avoidanceprocessing for the unmanned aerial vehicle 20 to avoid no-fly zones iscarried out between the administrator terminal 10 and the unmannedaerial vehicle 20 (Step S11). In Step S11, the processing in Step S100to Step S107 is carried out again, and when the unmanned aerial vehicle20 has approached any one of the holes, the flight path is adjusted soas not to fly close to players existing in the hole.

In the unmanned aerial vehicle 20, the controller 21 determines whetheror not the unmanned aerial vehicle 20 has arrived at the takeoff andlanding point based on the unmanned aerial vehicle position informationdetected by the GPS sensor 26B (Step S12). In Step S12, the controller21 determines whether or not the unmanned aerial vehicle positioninformation and latitude/longitude information at an end point of theflight path for the return route match each other.

When it is not determined that the unmanned aerial vehicle 20 hasarrived at the takeoff and landing point (N in Step S12), the no-flyzone avoidance processing in Step S11 is carried out again, and theflight path is adjusted so that the unmanned aerial vehicle 20 avoidsno-fly zones until the arrival at the takeoff and landing point. On theother hand, when it is determined that the unmanned aerial vehicle 20has arrived at the takeoff and landing point (Y in Step S12), thisprocessing is finished. In this case, the unmanned aerial vehicle 20reduces the number of rotations of the propellers so as to land on thetakeoff and landing point.

With the above-mentioned unmanned aerial vehicle control system 1, theunmanned aerial vehicle 20 flies so as to avoid the no-fly zones setbased on the moving object position information. Therefore, the unmannedaerial vehicle 20 can be caused to fly so as to avoid the no-fly zoneschanging in accordance with the movements of the moving bodies. That is,even when the no-fly zone changes in accordance with the movements ofthe moving bodies, the unmanned aerial vehicle can be caused to fly soas to avoid this no-fly zone. Therefore, it is possible to reliablyprevent the unmanned aerial vehicle 20 from becoming an obstacle to themoving object on the ground, and to reliably prevent the moving objecton the ground from becoming an obstacle to the unmanned aerial vehicle20.

Moreover, the flight controller 105 determines the flight path to thedestination such as the pickup point or the takeoff and landing point byavoiding no-fly zones. Thus, the unmanned aerial vehicle 20 can becaused to fly so as to arrive at the destination from the currentposition of the unmanned aerial vehicle 20 by avoiding the no-fly zones.Therefore, the unmanned aerial vehicle 20 can be caused to more reliablyarrive at the destination. Further, it is also possible to prevent theunmanned aerial vehicle 20 from becoming an obstacle to a moving objectexisting up to the destination, and to prevent a moving object existingup to the destination from becoming an obstacle to the unmanned aerialvehicle 20.

Moreover, the unmanned aerial vehicle 20 can be caused to fly so as toavoid a no-fly zone the size and the shape of which are determined bythe zone setting module 103 based on the moving object positioninformation. That is, the size and the shape of the no-fly zone can beoptimized in accordance with the moving object position information.Therefore, it is possible to reliably prevent the unmanned aerialvehicle 20 from becoming an obstacle to the moving object, and toreliably prevent the moving object from becoming an obstacle to theunmanned aerial vehicle 20.

Moreover, as described in the embodiment, when the moving objectposition information indicates the position of the player playing in thegolf course, the unmanned aerial vehicle 20 can be caused to flybyavoiding a no-fly zone changing in accordance with a movement of theplayer in the golf course. Therefore, when the unmanned aerial vehicle20 delivers a package in the golf course, it is possible to reliablyprevent the unmanned aerial vehicle 20 from becoming an obstacle to aplayer in the round (for example, prevent the unmanned aerial vehicle 20from becoming a visual or auditory obstacle that decreases player'sconcentration or from being hit by the hit ball), and to reliablyprevent the player from becoming an obstacle to the unmanned aerialvehicle 20 (for example, prevent a hit ball from hitting the unmannedaerial vehicle 20). As a result, the unmanned aerial vehicle 20 canreliably complete the delivery of the package and the return to the clubhouse.

[5. Modification Examples]

The present invention is not limited to the embodiment described above,and can be modified suitably without departing from the spirit of thepresent invention.

FIG. 15 is a functional block diagram in modification examples of thepresent invention. As illustrated in FIG. 15, in the modificationexamples described below, a state acquisition module 106, a propertyacquisition module 107, a movement estimation module 108, an informationacquisition module 109, and a specification reception module 110 areimplemented in addition to the functions of the embodiment. Now,description is made of a case in which the administrator terminal 10implements those functions.

(1) For example, even when the player is at the same position, a no-flyzone may differ in accordance with a state at that time. For example,when the player is moving, the player does not immediately hit a shot.Therefore, when the unmanned aerial vehicle 20 comes in the sight of theplayer or a direction of a hit ball, a possibility that the hit balldoes not become an obstacle is high, and a no-fly zone may be set to benarrow. On the other hand, when the player is not moving, the player isin the address position, or is checking a shot direction. Therefore,when the unmanned aerial vehicle 20 comes in the sight of the player orthe direction of the hit ball, a possibility that the unmanned aerialvehicle 20 becomes an obstacle is high, and the no-fly zone may set tobe wide. Therefore, in Modification Example (1) of the presentinvention, description is made of a case in which the no-fly zone is setin accordance with a current state of the player.

The unmanned aerial vehicle control system 1 in Modification Example (1)includes the state acquisition module 106. The controller 11 mainlyimplements the state acquisition module 106. The state acquisitionmodule 106 is configured to acquire moving object state information on acurrent state of the moving object. In modification examples describedbelow, description is made of the player as an example of the movingobject as in the embodiment. Therefore, the moving object stateinformation indicates the current state of the player.

For example, the moving object state information may indicate a movementstate of the player, a motion of the player, a direction of the player,or the like. On this occasion, description is made of a case in whichthe moving object state information is on the current movement state ofthe player. The movement state may indicate whether or not the player ismoving, a movement direction, or a movement speed. Description is nowmade of a case in which the movement state indicates whether or not theplayer is moving. When the state indicates that the player is moving, itmeans that a movement amount (a change amount of the moving objectposition information) per unit period is equal to or larger than athreshold value.

For example, the state acquisition module 106 is configured to acquirethe moving object state information based on a chronological change inmoving object position information. When the change amount of the movingobject position information per unit period is less than the thresholdvalue, the state acquisition module 106 determines that the movingobject is not moving, and acquires the moving object state informationindicating that the moving object is not moving. On the other hand, whenthe change amount of the moving object position information per unitperiod is equal to or more than the threshold value, the stateacquisition module 106 determines that the moving object is moving, andacquires the moving object state information indicating that the movingobject is moving.

The zone setting module 103 sets a no-fly zone based on the movingobject state information. A relationship between the moving object stateinformation and the no-fly zone may be described in a program, or may bestored in the data storage 100 as data in a form of a numericalexpression or in a form of a table. In this relationship, the movingobject state information and at least one of the position, the size, orthe shape of the no-fly zone may be defined. The zone setting module 103sets a no-fly zone associated with the moving object state informationacquired by the state acquisition module 106.

On this occasion, description is made of the case in which the movingobject state information indicates the movement state. Therefore, thezone setting module 103 is configured to set the no-fly zone based onthe current movement state indicated by the moving object stateinformation. For example, the zone setting module 103 is configured tochange at least one of the position, the size, or the shape of theno-fly zone between the case in which the player is moving and the casein which the player is not moving.

FIG. 16 is a diagram for illustrating a no-fly zone set while the playeris moving. FIG. 17 is a diagram for illustrating a no-fly zone set whilethe player is not moving. As illustrated in FIG. 16, when the movingobject state information indicates that the player is moving, the zonesetting module 103 sets a circle having a radius L₆ about a position M₄of the player indicated by the moving object position information as ano-fly zone A₉₄. That is, when the player is moving, the player does notimmediately hit a shot. Therefore, the no-fly zone A₉₄ relatively smallin size may be set without particularly considering the direction of thehit ball.

Moreover, for example, as illustrated in FIG. 17, when the moving objectstate information indicates that the player is not moving, the zonesetting module 103 sets an ellipsoid having a minor axis L₇ and a majoraxis L₈ about a position M₆, which is obtained by displacing theposition M₅ of the player indicated by the moving object positioninformation in a predetermined direction by a predetermined distance, asa no-fly zone A₉₅. That is, when the player is not moving, the playermay immediately hit a shot, and thus the no-fly zone A₉₅ having arelatively large size may be set in consideration of the direction ofthe hit ball.

As illustrated in FIG. 16 and FIG. 17, for example, the zone settingmodule 103 may be configured to determine a no-fly zone so that a no-flyzone in the case in which the player is not moving is wider than ano-fly zone in the case in which the player is moving. The flightcontroller 105 is configured to determine a flight path that avoids theno-fly zone set by the zone setting module 103 in accordance with themoving object state information. The determination method itself for theflight path that avoids the no-fly zone may be similar to the methoddescribed in the embodiment. This applies to modification examplesdescribed later.

With Modification Example (1), the unmanned aerial vehicle 20 can becaused to fly so as to avoid the no-fly zone in accordance with themoving object state information. The no-fly zone is set in accordancewith the state of the player at the subject time point, and the unmannedaerial vehicle 20 can more reliably be prevented from becoming anobstacle to the plyer or the player can more reliably be prevented frombecoming an obstacle to the unmanned aerial vehicle 20. Further, forexample, a no-fly zone unnecessarily large for the state of the playerat the subject time point can also be prevented from being set, and theunmanned aerial vehicle 20 can thus be prevented from wastefully makinga large detour. As a result, power consumption of the unmanned aerialvehicle 20 can be reduced, and the arrival time at the destination canbe advanced.

Moreover, when the moving object state information indicates the statein which the player is moving, the unmanned aerial vehicle 20 can becaused to fly so as to avoid a no-fly zone in accordance with themovement state of the player. That is, an optimal no-fly zone can be setin accordance with the movement state of the player.

A no-fly zone to be set in accordance with the moving object stateinformation is only required to be defined in accordance with asituation in which the unmanned aerial vehicle control system 1 is used,a type of the moving object, and the like. For example, when the movingobject is a train, the zone setting module 103 may set a no-fly zone sothat the no-fly zone is wider in the case in which the moving objectstate information indicates that the moving object is moving than in thecase in which the moving object state information indicates that themoving object is not moving in order to secure a spatial margin foravoiding a contact with the unmanned aerial vehicle 20, which isopposite to the above-mentioned modification example.

Moreover, for example, as described above, the movement state mayindicate the movement direction. In this case, the state acquisitionmodule 106 is only required to acquire the movement direction based on achronological change in moving object position information. For example,the zone setting module 103 may be configured to set a no-fly zone sothat the no-fly zone is wider toward a direction indicated by the movingobject state information.

Moreover, for example, the movement state may indicate the movementspeed. In this case, the state acquisition module 106 is only requiredto acquire the movement speed based on a chronological change in movingobject position information. For example, the zone setting module 103maybe configured to increase the no-fly zone as the movement speedindicated by the moving object state information increases, and reducethe no-fly zone as the movement speed decreases in order to secure thespatial margin for avoiding the contact with the unmanned aerial vehicle20. Moreover, for example, conversely to the description made before,the zone setting module 103 may be configured to estimate whether or notthe player is in the address position in accordance with the movementspeed, reduce the no-fly zone as the moving object speed indicated bythe moving object state information increases, and increase the no-flyzone as the moving object speed decreases.

Moreover, for example, as described above, the moving object stateinformation may indicate a state other than the movement state. Forexample, when the moving object state information indicates a type ofthe motion, the state acquisition module 106 may acquire the type of themotion based on a change in the moving object position information, oracquire the type of the motion based on an image taken by the camera 24Aof the unmanned aerial vehicle 20. In this case, the zone setting module103 is configured to set the no-fly zone in accordance with the motion.For example, when the player is presenting an address motion, the zonesetting module 103 may set a larger no-fly zone than when the player ispresenting a walking motion.

Moreover, for example, when the moving object state informationindicates a direction (for example, a direction of the face, a directionof the body, or the like of the player), the state acquisition module106 may be configured to acquire the direction based on a change inmoving object position information, or acquire the direction based onthe image taken by the camera 24A of the unmanned aerial vehicle 20. Inthis case, the zone setting module 103 sets the no-fly zone inaccordance with the direction. For example, the zone setting module 103may be configured to set the no-fly zone so that the no-fly zone iswider toward the direction of the face or the direction of the body ofthe player.

(2) Moreover, for example, in the embodiment, description is made of thecase in which the moving object is a human, but, as described above, themoving object may be an automobile, a motorbike, or a train. Ways of themovement of the human, the four-wheeled motor vehicle, the two-wheeledmotor vehicle, and the train are different from one another. Therefore,the no-fly zone may be changed in accordance with what the moving objectis.

The unmanned aerial vehicle control system 1 of Modification Example (2)of the present invention includes the property acquisition module 107.The controller 11 mainly implements the property acquisition module 107.The nature acquisition module 107 is configured to acquire moving objectproperty information on a property of the moving object. The property isinformation on what the moving object is. In other words, the propertymay be a class defined in accordance with taxonomy, a type or a purposeof use of the moving object, or capability or performance of the movingobject. In the following, description is made of a case in which themoving object property information indicates whether the moving objectis a human, an automobile, a motorbike, or a train.

For example, the property acquisition module 107 may be configured toacquire the moving object property information based on the details ofcommunication to/from the moving object terminal 30. The propertyacquisition module 107 is configured to acquire the identificationinformation on the moving object terminal 30 from the moving objectterminal 30, and acquire the moving object property information based onthis identification information. In this case, it is assumed that dataindicating a relationship between the identification information on themoving object terminal 30 and the moving object property information isstored in the data storage 100 in advance. This relationship indicatessuch a relationship that, for example, one moving object terminal 30moves together with a human, and another moving object terminal 30 movestogether with an automobile. The property acquisition module 107 isconfigured to acquire the moving object property information associatedwith the identification information acquired from the moving objectterminal 30. As a result, the unmanned aerial vehicle control system 1can identify what the moving object is.

The moving object property information may be input from the operationdevices 14 and 34. In this case, the property acquisition module 107 isconfigured to acquire the moving object property information input fromthe operation devices 14 and 34. Moreover, for example, the movingobject property information may be acquired based on the image taken bythe camera 24A of the unmanned aerial vehicle 20. In this case, theproperty acquisition module 107 may apply image analysis to the takenimage of the ground taken by the camera 24, to thereby acquire themoving object property information. In this image analysis, templatematching through template images indicating typical shapes of a human,an automobile, and the like may be carried out.

The zone setting module 103 sets a no-fly zone based on the movingobject property information. A relationship between the moving objectproperty information and the no-fly zone may be described in a program,or may be stored in the data storage 100 as data in a form of anumerical expression or in a form of a table. In this relationship, themoving object property information and at least one of the position, thesize, or the shape of the no-fly zone maybe defined. The zone settingmodule 103 sets a no-fly zone associated with the moving object propertyinformation acquired by the property acquisition module 107.

For example, the zone setting module 103 may be configured to set ano-fly zone having a size and a shape associated with the moving objectproperty information at a position associated with the moving objectproperty information. In other words, the zone setting module 103changes the no-fly zone to be set in accordance with the propertiesindicated by the moving object property information.

For example, in a case in which the moving object property informationindicates an automobile or a train, the zone setting module 103 may seta larger no-fly zone than that of a case in which the moving objectproperty information indicates a human. Moreover, for example, movabledirections of a four-wheeled vehicle and a train are limited, and theycannot quickly change the directions. Therefore, in the case in whichthe moving object property information indicates an automobile or atrain, the zone setting module 103 may set a no-fly zone so that theno-fly zone is wider toward a moving direction side compared with thatof the case in which the moving object property information indicates ahuman.

With Modification Example (2), the unmanned aerial vehicle 20 can becaused to fly so as to avoid a no-fly zone set in accordance with themoving object property information. That is, the no-fly zone changes inaccordance with what the moving object is, and the unmanned aerialvehicle 20 can more reliably be prevented from becoming an obstacle tothe moving object or the moving object can more reliably be preventedfrom becoming an obstacle to the unmanned aerial vehicle 20. Further,for example, a no-fly zone unnecessarily large for the property of themoving object can also be prevented from being set, and the unmannedaerial vehicle 20 can thus be prevented from wastefully making a largedetour. As a result, power consumption of the unmanned aerial vehicle 20can be reduced, and the arrival time at the destination can be advanced.

Even when objects have the same name in terms of taxonomy, a no-fly zonemay be changed in accordance with the type of object. For example, forthe same trains, a bullet train and a conventional train have differenttravel speeds. Therefore, a no-fly zone may be changed in accordancewith the type of train. In this case, the moving object propertyinformation indicates the type of train. Therefore, when the movingobject property information indicates a bullet train, the zone settingmodule 103 may set a larger no-fly zone than that of a case in which themoving object property information indicates a conventional train.

Moreover, for example, for the same automobile, a vehicle on an expressway and a vehicle on a general road have different movement speeds.Therefore, a no-fly zone may be changed in accordance with where theautomobile moves. In this case, the moving object property informationindicates where the automobile moves. Therefore, when the moving objectproperty information indicates an automobile on an express way, the zonesetting module 103 may set a larger no-fly zone than that of a case inwhich the moving object property information indicates a four-wheeledvehicle on a general road.

Moreover, for example, for the same buses, a no-fly zone may be changedbetween a route bus and a sightseeing bus. For example, the route busoften starts immediately after stopping at a bus stop and takingpassengers, but the sightseeing bus often starts after parking for awhile until sightseeing is finished. The moving object propertyinformation may indicate the purpose of use of the moving object, andthe zone setting module 103 may be configured to set a no-fly zone basedon the purpose of use indicated by the moving object propertyinformation. For example, the zone setting module 103 may be configuredto set a larger no-fly zone in the case of the route bus than that ofthe sightseeing bus.

Moreover, for example, a ball flight distance varies in accordance withthe player, and the no-fly zone may be changed in accordance with theball flight distance of the player. In this case, the moving objectproperty information indicates the ball flight distance of a player(namely, ability of the player). Therefore, the zone setting module 103may be configured to increase the no-fly zone as the ball flightdistance indicated by the moving object property information increases,and reduce the no-fly zone as the ball flight distance indicated by themoving object property information decreases.

(3) Moreover, for example, description is made of the case in which theunmanned aerial vehicle control system 1 of the embodiment adjusts theflight path in accordance with the positions of the players when theflying unmanned aerial vehicle 20 has approached the hole, but theflight path may be determined by estimating movements of the players inadvance. In this modification example, description is made of a case inwhich the unmanned aerial vehicle control system 1 estimates themovements of the respective players from the current positions, andacquires a flight path that avoids no-fly zones based on the estimationresult before the departure of the unmanned aerial vehicle 20 as anexample.

The unmanned aerial vehicle control system 1 of Modification Example (3)of the present invention includes the movement estimation module 108.The controller 11 mainly implements the movement estimation module 108.The movement estimation module 108 is configured to estimate themovement of the player from the current position based on the movingobject position information. The movement estimation module 108 mayestimate a position of the player at one time point in the future, ormay chronologically estimate positions of the player at a plurality oftime points in the future. Description is now made of a case in whichthe movement estimation module 108 chronologically estimates themovement of the player.

A relationship between the moving object position information and theposition of the player at respective time points in the future may bedescribed in a program, or may be stored in a form of a numericalexpression or in a form of a table in the data storage 100 in advance.This relationship may be considered also as a definition of arelationship between the current position and the future position of theplayer. For example, in this relationship, a relationship between thecurrent position and a position “n” minutes later (“n” is any numericalvalue) of the player may be defined. The position in the future is onlyrequired to be defined in accordance of a progress of a standard play inthe golf course.

The zone setting module 103 sets a no-fly zone based on the estimationresult obtained by the movement estimation module 108. The zone settingmodule 103 is configured to set the no-fly zone based on the positionsof the players at respective time points in the future estimated by themovement estimation module 108. The method of setting the no-fly zone atthe respective time points may be the same as the methods described inthe embodiment and the above-mentioned modification examples. That is,the zone setting module 103 is only required to set the no-fly zone ateach of the time points subsequent to the current time point in the samemanner as the method described in the embodiment.

FIG. 18 is a diagram for illustrating how no-fly zones are set inModification Example (3). A “t” axis illustrated in FIG. 18 is a timeaxis. On this occasion, as illustrated in FIG. 18, three groups ofplayers in the round exist. Positions indicated by the moving objectposition information of the respective groups are indicated by referencenumerals M₇ to M₉. The position M₇ at a certain time point t₁ indicatesplayers playing in the third hole H₃. The position M₈ indicates playersplaying in the fourth hole H₄. The position M₉ indicates players playingin the fifth hole H₅.

For example, the player hits a shot so that the ball gets close to thepin, and plays sequentially in the respective holes. Therefore, it isassumed that the future position of the player is defined to be aposition closer to the pin with respect to the current position or aposition in a subsequent hole in the order of the holes. Therefore, thepositions M₇ to M₉ at a time point t₂ later than the time point t₁ havemoved toward the pins or to the next hole with respect to the positionsM₇ to M_(g) at the time point t₁. Similarly, the positions M₇ to M₉ at atime point t₃ later than the time point t₂ have moved toward the pin orto the next holes with respect to the positions M₇ to M₉ at the timepoint t₂.

In Modification Example (3), the chronological movement is estimated asillustrated in FIG. 18. Therefore, the zone setting module 103 isconfigured to set no-fly zones at the respective time points estimatedby the movement estimation module 108. That is, the zone setting module103 estimates chronological changes in no-fly zones based on thechronological changes in positions of the players, and the flightcontroller 105 controls the flight of the unmanned aerial vehicle basedon the chronological changes in no-fly zones.

For example, in the movement estimation example as illustrated in FIG.18, when the unmanned aerial vehicle 20 flies from a position P to apickup point Q₆, and tries to fly close to the third hole H₃ to thefifth hole H₅ at the time point t₁, the no-fly zones A₇ to A₉ areconcentrated, and the unmanned aerial vehicle 20 is required to make alarge detour. Therefore, the flight controller 105 may acquire a flightpath along which the unmanned aerial vehicle 20 delays the departure, orwaits during the flight so as to fly through the third hole H₃ to thefifth hole H₅ at the time point t₂ or t₃.

With Modification Example (3), the movements of the players from thecurrent positions are estimated, and the unmanned aerial vehicle 20 canbe caused to fly so as to avoid the no-fly zones based on the estimationresult. Therefore, the unmanned aerial vehicle 20 can be caused to flyso as to more reliably avoid the no-fly zones. A frequency of obtainingthe moving object position information can be reduced by estimatingpositions of the players, and a communication amount can thus bereduced.

Moreover, when no-fly zones are chronologically set based on themovement estimation of the players, optimal no-fly zones can be setbased on the detailed movement estimation corresponding to therespective time points.

(4) Moreover, for example, the unmanned aerial vehicle control system 1may be configured to determine the flight path in consideration of anarrival time and a movement distance. On this occasion, whether priorityis given to the arrival time or the movement distance to fly theunmanned aerial vehicle 20 may be specified by a player, theadministrator, or the like.

The unmanned aerial vehicle control system 1 of Modification Example (4)of the present invention includes the information acquisition module 109and the specification reception module 110. The controller 11 mainlyimplements those modules. The information acquisition module 109 isconfigured to acquire time information on the arrival time and distanceinformation on the movement distance at a time when the unmanned aerialvehicle flies to the destination by avoiding the no-fly zones. Theflight controller 105 may be configured to acquire a plurality ofcandidates of the flight path. In this case, the information acquisitionmodule 109 may be configured to acquire the time information and thedistance information for each of the candidates of the flight path. Asthe candidates of the flight path, the shortest path between the takeoffand landing point and the pickup point based on the path searchalgorithm and paths each different in distance from the shortest path byless than a threshold value is only required to be acquired.

The information acquisition module 109 is configured to acquire the timeinformation and the distance information based on the flight pathacquired by the flight controller 105. For example, the informationacquisition module 109 calculates a total flight distance based on thelatitude/longitude information on the flight path, to thereby acquirethe distance information. Moreover, for example, the informationacquisition module 109 divides the total flight distance of the flightpath by a predetermined flight speed, to thereby acquire the timeinformation. The flight speed is a standard speed of the unmanned aerialvehicle 20, and may be a numerical value specified in advance.

The specification reception module 110 is configured to receive aspecification relating to whether priority is given to the arrival timeor the movement distance. For example, the specification receptionmodule 110 is configured to receive the specification based on an inputfrom the operation device 14 or the operation device 34.

The flight controller 105 is configured to carry out the flight controlof the unmanned aerial vehicle 20 based on the time information and thedistance information. For example, the flight controller 105 isconfigured to carry out the flight control for the unmanned aerialvehicle 20 based on the specification result received by thespecification reception module 110. When the specification of givingpriority to the arrival time is received, the flight controller 105carries out the flight control for the unmanned aerial vehicle 20 basedon the flight path having the earliest arrival time. On the other hand,when the specification of giving priority to the movement distance isreceived, the flight controller 105 carries out the flight control forthe unmanned aerial vehicle 20 based on the flight path having theshortest movement distance.

With Modification Example (4), the unmanned aerial vehicle 20 can becaused to fly based on the flight path reflecting the arrival time orthe movement distance. Therefore, the unmanned aerial vehicle 20 can becaused to fly without waste.

Moreover, the unmanned aerial vehicle 20 can be caused to fly whilepriority is given to the arrival time, or the unmanned aerial vehicle 20can be caused to fly while priority is given to the movement distance.Therefore, for example, the unmanned aerial vehicle 20 can be caused tofly along the flight path that depends on the player or theadministrator.

The method of the flight control by the flight controller 105 based onthe time information and the distance information is not limited to thatof the above-mentioned examples, and the specification of whetherpriority is given to the arrival time or the travel period may not berequired. For example, the flight controller 105 may be configured toacquire a predetermined evaluation value based on the time informationand the distance information, to thereby determine a flight path basedon the evaluation value. The evaluation value may indicate a cost interms of the time, distance, and the consumed energy. For example, anumerical expression for calculating the evaluation value is onlyrequired to be defined. This numerical expression may have the timeinformation and the distance information as variables, and the timeinformation and the distance information may be weighted differentlyfrom each other. The flight controller 105 may be configured to acquirea flight path that minimizes the cost indicated by the evaluation value.

(5) Moreover, for example, even when a current flight path crosses ano-fly zone, movement of players may result in a possibility that, aportion from which the players have moved is no longer contained in theno-fly zone. Therefore, the flight controller 105 may be configured tocause the unmanned aerial vehicle 20 to wait, to thereby control theflight of the unmanned aerial vehicle 20 to avoid the no-fly zone.

Description is now made of a case in which a no-fly zone of a hole whichthe unmanned aerial vehicle 20 has approached is avoided as described inthe embodiment. For example, the flight controller 105 determineswhether or not the current flight path avoids the no-fly zone. When theflight controller 105 determines that the current flight path does notavoid the no-fly zone, the flight controller 105 causes the unmannedaerial vehicle 20 to wait immediately before the no-fly zone. The term“immediately before” means a place within a predetermined distance fromthe no-fly zone.

When the administrator terminal 10 implements the flight controller 105,the flight controller 105 transmits a predetermined wait instruction tothe unmanned aerial vehicle 20. The wait instruction is only required tobe transmitted in a predetermined data format. The term “waiting”corresponds to a state in which the unmanned aerial vehicle 20 hovers onthe spot, lands on the ground, or stays while flying around in a certainrange (for example, a region having a radius equal to or less than 5meters).

The moving object position acquisition module 102 repeatedly acquiresthe moving object position information while the unmanned aerial vehicle20 is waiting. The zone setting module 103 sets a no-fly zone each timethe moving object position information is acquired. The flightcontroller 105 compares the latest no-fly zone and the flight path witheach other, to thereby determine whether the flight path avoids thelatest no-fly zone. When the flight controller 105 determines that theflight path does not avoid the latest no-fly zone, the flight controller105 causes the unmanned aerial vehicle 20 to continue to wait. When theflight controller 105 determines that the flight path avoids the latestno-fly zone, the flight controller 105 transmits a predetermined flightresumption instruction to the unmanned aerial vehicle 20. The flightresumption instruction is only required to be transmitted in apredetermined data format. When the unmanned aerial vehicle 20 receivesthe flight resumption instruction, the unmanned aerial vehicle 20finishes the waiting, and starts the flight along the flight path.

With Modification Example (5) of the present invention, the unmannedaerial vehicle 20 can be prevented from wastefully making a detour. As aresult, the arrival of the unmanned aerial vehicle 20 at the destinationcan be advanced, and the power consumption of the unmanned aerialvehicle 20 can be reduced.

The unmanned aerial vehicle 20 may not be caused to wait immediatelybefore the no-fly zone. For example, as in Modification Example (3),when a no-fly zone is estimated in advance, the unmanned aerial vehicle20 may be caused to wait at the takeoff and landing point, to therebydelay the departure. Moreover, for example, with the same method as thatof Modification Example (3), the travel estimation module 108 may becaused to estimate a change in no-fly zone during flight of the unmannedaerial vehicle 20. The flight controller 105 may determine whether ornot to cause the unmanned aerial vehicle 20 to wait based on an arrivaltime or a movement distance in a case in which the unmanned aerialvehicle 20 is caused to fly along a new flight path as described in theembodiment and an arrival time or a movement distance in a case in whichthe unmanned aerial vehicle 20 is caused to wait and to fly along thecurrent flight path. In this case, the arrival times and the movementdistances are only required to be acquired through the same method asthat of Modification Example (4). The flight controller 105 may causethe unmanned aerial vehicle 20 to wait when the arrival time is earlierwhen the unmanned aerial vehicle 20 waits and flies along the currentflight path than when the unmanned aerial vehicle 20 flies along the newflight path. The flight controller 105 may cause the unmanned aerialvehicle 20 to wait when the movement distance is shorter in a case inwhich the unmanned aerial vehicle 20 waits and flies along the currentflight path than in a case in which the unmanned aerial vehicle 20 fliesalong the new flight path. The flight controller 105 is only required todetermine whether or not to cause the unmanned aerial vehicle 20 to waitin accordance with whether priority is given to the arrival time or themovement distance.

(6) Moreover, for example, two or more of Modification Examples (1) to(5) may be combined.

Moreover, for example, the moving object terminal 30 may be a golf cartterminal placed in a golf cart. In this case, the moving object is thegolf cart. The golf cart terminal may be, for example, a terminal forguiding the player in details of the hole. The moving object positionacquisition module 102 may be configured to acquire the moving objectposition information on the current position of the golf cart based onthe detection signal of the GPS sensor 36 of the moving object terminal30, which is the golf cart terminal. The zone setting module 103 is toset a no-fly zone based on the current position of the golf cart. Theflight controller 105 causes the unmanned aerial vehicle 20 to fly so asto avoid the no-fly zone set based on the current position of the golfcart.

Moreover, for example, description is made of the case in which theunmanned aerial vehicle 20 carries a package as an example, but theunmanned aerial vehicle control system 1 may be applied to a scene inwhich the unmanned aerial vehicle 20 flies over a traveling movingobject. For example, the unmanned aerial vehicle control system 1 mayalso be applied to a case in which the unmanned aerial vehicle 20 usesthe camera 24A to take an image of a state of a predetermined place andprovide information.

Moreover, for example, description is made of the case in which theadministrator terminal 10, the unmanned aerial vehicle 20, and themoving object terminal 30 are included in the unmanned aerial vehiclecontrol system 1, but the unmanned aerial vehicle control system 1 isonly required to include at least one computer, and may include othercomputers. For example, when the unmanned aerial vehicle 20 isconfigured to detect the moving object position information, the movingobject terminal 30 may not be included in the unmanned aerial vehiclecontrol system 1. Further, when the unmanned aerial vehicle 20 has thefunctions of the administrator terminal 10, the administrator terminal10 may not be included in the unmanned aerial vehicle control system 1.

Moreover, for example, the above-mentioned respective functions are onlyrequired to be implemented in any one of the computers of the unmannedaerial vehicle control system 1. The functions described as implementedin the administrator terminal 10 maybe implemented in the unmannedaerial vehicle 20, the moving object terminal 30, or other computers.For example, the unmanned aerial vehicle 20 may implement the datastorage 100. Moreover, for example, when the unmanned aerial vehicle 20implements the moving object position acquisition module 102, theunmanned aerial vehicle 20 may directly acquire the moving objectposition information from the moving object terminal 30, or may acquirethe moving object position information based on detection details of theown sensor group 24. Moreover, for example, when the unmanned aerialvehicle 20 implements the zone setting module 103, the unmanned aerialvehicle 20 may set a no-fly zone based on the map data. Moreover, whenthe unmanned aerial vehicle 20 implements the flight controller 105, theunmanned aerial vehicle 20 may determine the flight path by itself, andmay control the number of rotations of the propellers, to therebycontrol the flight. Further, the above-mentioned functions other thanthe moving object position acquisition module 102, the zone settingmodule 103, and the flight controller 105 may be omitted.

1. An unmanned aerial vehicle control system, comprising at least one processor configured to: acquire moving object position information on a current position of a moving object moving above a surface of an earth; a no-fly zone in which a flight of the unmanned aerial vehicle is inhibited based on the moving object position information; acquire time information on an arrival time and distance information on a movement distance at a time when the unmanned aerial vehicle flies to a destination by avoiding the no-fly zone; and control the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle avoids the no-fly zone based on the time information and the distance information.
 2. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor: acquires unmanned aerial vehicle position information on a current position of the unmanned aerial vehicle; acquires destination information on a destination of the unmanned aerial vehicle; and controls the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle arrives at the destination from the current position of the unmanned aerial vehicle by avoiding the no-flight zone based on the unmanned aerial vehicle position information and the destination information.
 3. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor determines at least one of a size or a shape of the no-fly zone based on the moving object position information.
 4. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor acquires moving object state information on a current state of the moving object, and sets the no-fly zone based on the moving object state information.
 5. The unmanned aerial vehicle control system according to claim 4, wherein the moving object state information is information on a current movement state of the moving object, and wherein the at least one processor sets the no-fly zone based on the current movement state indicated by the moving object state information.
 6. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor acquires moving object property information on a property of the moving object, and sets the no-fly zone based on the moving object property information.
 7. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor estimates a movement of the moving object from the current position based on the moving object position information, and sets the no-fly zone based on an estimation result.
 8. The unmanned aerial vehicle control system according to claim 7, wherein the at least one processor chronologically estimates the movement of the moving object, sets the no-fly zone for each time point, and carries out flight control for the unmanned aerial vehicle based on, a chronological change in the no-fly zone.
 9. (canceled)
 10. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor receives a specification relating to whether priority is to be given to the arrival time or the movement distance, and carries out the flight control for the unmanned aerial vehicle based on a specification result.
 11. The unmanned aerial vehicle control system according to claim 1, wherein the at least one processor causes the unmanned aerial vehicle to wait so that the flight of the unmanned aerial vehicle is controlled to avoid the no-fly zone.
 12. The unmanned aerial vehicle control system according to claim 1, wherein the moving object is a player or a golf cart moving in a golf course, wherein the at least one processor acquires the moving object position information indicating a current position of the player or the golf cart based on a detection signal of a GPS sensor of a player terminal or a golf cart terminal, sets the no-fly zone based on the current position of the player or the golf cart, and controls the flight of the unmanned aerial vehicle carrying a package to be transported to a predetermined position in the golf course so that the unmanned aerial vehicle avoids the no-fly zone set based on the current position of the player or the golf cart.
 13. An unmanned aerial vehicle control method, comprising: acquiring moving object position information on a current position of a moving object moving above a surface of an earth; setting a no-fly zone in which a flight of the unmanned aerial vehicle is inhibited based on the moving object position information; acquiring time information on an arrival time and distance information on a movement distance at a time when the unmanned aerial vehicle flies to a destination by avoiding the no-fly zone; and controlling the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle avoids the no-fly zone based on the time information and the distance information.
 14. A non-transitory computer-readable information storage medium for storing a program for causing a computer to: acquire moving object position information on a current position of a moving object moving above a surface of an earth; set a no-fly zone in which a flight of the unmanned aerial vehicle is inhibited based on the moving object position information; acquire time information on an arrival time and distance information on a movement distance at a time when the unmanned aerial vehicle flies to a destination by avoiding the no-fly zone; and control the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle avoids the no-fly zone based on the time information and the distance information. 